OpenRaiser/Intern-Atlas huggingface dataset:
Contemporary COBOL: Developers' Perspectives on Defects and Defect Location
Venue: arXiv cs.SE 2021
Year: 2021

Mainframe systems are facing a critical shortage of developer workforce as the current generation of COBOL developers retires. Furthermore, due to the limited availability of public COBOL resources, entry-level developers, who assume the mantle of legacy COBOL systems maintainers, face significant difficulties during routine maintenance tasks, such as code comprehension and defect location. While we made substantial advances in the field of software maintenance for modern programming languages yearly, mainframe maintenance has received limited attention. With this study, we aim to direct the attention of researchers and practitioners towards investigating and addressing challenges associated with mainframe development. Specifically, we explore the scope of defects affecting COBOL systems and defect location strategies commonly followed by COBOL developers and compare them with the modern programming language counterparts. To this end, we surveyed 30 COBOL and 74 modern Programming Language (PL) developers to understand the differences in defects and defect location strategies employed by the two groups. Our preliminary results show that: (1) major defect categories affecting the COBOL ecosystem are different than defects encountered in modern PL software projects; (2) the most challenging defect types in COBOL are also the ones that occur most frequently; and (3) COBOL and modern PL developers follow similar strategies to locate defective code.
SemperFi: A Spoofer Eliminating GPS Receiver for UAVs
Venue: arXiv cs.CR 2021
Year: 2021

It is well-known that GPS is vulnerable to signal spoofing attacks. Although several spoofing detection techniques exist, they are incapable of mitigation and recovery from stealthy attackers. In this work, we present SemperFi, a single antenna GPS receiver capable of tracking legitimate GPS satellite signals and estimating the true location even during a spoofing attack. The main challenge in building SemperFi is, unlike most wireless systems where \emph{the data} contained in the wireless signals is important, GPS relies on the time of arrival (ToA) of satellite signals. SemperFi is capable of distinguishing spoofing signals and recovering legitimate GPS signals that are even completely overshadowed by a strong adversary. We exploit the short-term stability of inertial sensors to identify the spoofing signal and extend the successive interference cancellation algorithm to preserve the legitimate signal's ToA. We implement SemperFi in GNSS-SDR, an open-source software-defined GNSS receiver, and evaluate its performance using UAV simulators, real drones, a variety of real-world GPS datasets, and various embedded platforms. Our evaluation results indicate that in many scenarios, SemperFi can identify adversarial peaks by executing flight patterns that are less than 50 m long and recover the true location within 10 seconds (Jetson Xavier). We show that our receiver is secure against stealthy attackers who exploit inertial sensor errors and execute seamless takeover attacks. We design SemperFi as a pluggable module capable of generating a spoofer-free GPS signal for processing on any commercial-off-the-shelf GPS receiver available today. Finally, we release our implementation to the community for usage and further research.
LEADOR: A Method for End-to-End Participatory Design of Autonomous Social Robots
Venue: arXiv cs.RO 2021
Year: 2021

Participatory Design (PD) in Human-Robot Interaction (HRI) typically remains limited to the early phases of development, with subsequent robot behaviours then being hardcoded by engineers or utilised in Wizard-of-Oz (WoZ) systems that rarely achieve autonomy. We present LEADOR (Led-by-Experts Automation and Design Of Robots) an end-to-end PD methodology for domain expert co-design, automation and evaluation of social robots. LEADOR starts with typical PD to co-design the interaction specifications and state and action space of the robot. It then replaces traditional offline programming or WoZ by an in-situ, online teaching phase where the domain expert can live-program or teach the robot how to behave while being embedded in the interaction context. We believe that this live teaching can be best achieved by adding a learning component to a WoZ setup, to capture experts' implicit knowledge, as they intuitively respond to the dynamics of the situation. The robot progressively learns an appropriate, expert-approved policy, ultimately leading to full autonomy, even in sensitive and/or ill-defined environments. However, LEADOR is agnostic to the exact technical approach used to facilitate this learning process. The extensive inclusion of the domain expert(s) in robot design represents established responsible innovation practice, lending credibility to the system both during the teaching phase and when operating autonomously. The combination of this expert inclusion with the focus on in-situ development also means LEADOR supports a mutual shaping approach to social robotics. We draw on two previously published, foundational works from which this (generalisable) methodology has been derived in order to demonstrate the feasibility and worth of this approach, provide concrete examples in its application and identify limitations and opportunities when applying this framework in new environments.
Comparative Analysis of Box-Covering Algorithms for Fractal Networks
Venue: arXiv cs.SI 2021
Year: 2021

Research on fractal networks is a dynamically growing field of network science. A central issue is to analyze fractality with the so-called box-covering method. As this problem is known to be NP-hard, a plethora of approximating algorithms have been proposed throughout the years. This study aims to establish a unified framework for comparing approximating box-covering algorithms by collecting, implementing, and evaluating these methods in various aspects including running time and approximation ability. This work might also serve as a reference for both researchers and practitioners, allowing fast selection from a rich collection of box-covering algorithms with a publicly available codebase.
Stitch Fix for Mapper and Topological Gains
Venue: arXiv cs.CG 2021
Year: 2021

The mapper construction is a powerful tool from topological data analysis that is designed for the analysis and visualization of multivariate data. In this paper, we investigate a method for stitching a pair of univariate mappers together into a bivariate mapper, and study topological notions of information gains, referred to as topological gains, during such a process. We further provide implementations that visualize such topological gains for mapper graphs.
LEGOEval: An Open-Source Toolkit for Dialogue System Evaluation via Crowdsourcing
Venue: arXiv cs.AI 2021
Year: 2021

We present LEGOEval, an open-source toolkit that enables researchers to easily evaluate dialogue systems in a few lines of code using the online crowdsource platform, Amazon Mechanical Turk. Compared to existing toolkits, LEGOEval features a flexible task design by providing a Python API that maps to commonly used React.js interface components. Researchers can personalize their evaluation procedures easily with our built-in pages as if playing with LEGO blocks. Thus, LEGOEval provides a fast, consistent method for reproducing human evaluation results. Besides the flexible task design, LEGOEval also offers an easy API to review collected data.
ScissionLite: Accelerating Distributed Deep Neural Networks Using Transfer Layer
Venue: arXiv cs.DC 2021
Year: 2021

Industrial Internet of Things (IIoT) applications can benefit from leveraging edge computing. For example, applications underpinned by deep neural networks (DNN) models can be sliced and distributed across the IIoT device and the edge of the network for improving the overall performance of inference and for enhancing privacy of the input data, such as industrial product images. However, low network performance between IIoT devices and the edge is often a bottleneck. In this study, we develop ScissionLite, a holistic framework for accelerating distributed DNN inference using the Transfer Layer (TL). The TL is a traffic-aware layer inserted between the optimal slicing point of a DNN model slice in order to decrease the outbound network traffic without a significant accuracy drop. For the TL, we implement a new lightweight down/upsampling network for performance-limited IIoT devices. In ScissionLite, we develop ScissionTL, the Preprocessor, and the Offloader for end-to-end activities for deploying DNN slices with the TL. They decide the optimal slicing point of the DNN, prepare pre-trained DNN slices including the TL, and execute the DNN slices on an IIoT device and the edge. Employing the TL for the sliced DNN models has a negligible overhead. ScissionLite improves the inference latency by up to 16 and 2.8 times when compared to execution on the local device and an existing state-of-the-art model slicing approach respectively.
Deep Multilevel Graph Partitioning
Venue: arXiv cs.DS 2021
Year: 2021

Partitioning a graph into blocks of "roughly equal" weight while cutting only few edges is a fundamental problem in computer science with a wide range of applications. In particular, the problem is a building block in applications that require parallel processing. While the amount of available cores in parallel architectures has significantly increased in recent years, state-of-the-art graph partitioning algorithms do not work well if the input needs to be partitioned into a large number of blocks. Often currently available algorithms compute highly imbalanced solutions, solutions of low quality, or have excessive running time for this case. This is because most high-quality general-purpose graph partitioners are multilevel algorithms which perform graph coarsening to build a hierarchy of graphs, initial partitioning to compute an initial solution, and local improvement to improve the solution throughout the hierarchy. However, for large number of blocks, the smallest graph in the hierarchy that is used for initial partitioning still has to be large. In this work, we substantially mitigate these problems by introducing deep multilevel graph partitioning and a shared-memory implementation thereof. Our scheme continues the multilevel approach deep into initial partitioning -- integrating it into a framework where recursive bipartitioning and direct k-way partitioning are combined such that they can operate with high performance and quality. Our approach is stronger, more flexible, arguably more elegant, and reduces bottlenecks for parallelization compared to other multilevel approaches. For example, for large number of blocks our algorithm is on average an order of magnitude faster than competing algorithms while computing balanced partitions with comparable solution quality. For small number of blocks, our algorithms are the fastest among competing systems with comparable quality.
Interactive Static Software Performance Analysis in the IDE
Venue: arXiv cs.SE 2021
Year: 2021

Detecting performance issues due to suboptimal code during the development process can be a daunting task, especially when it comes to localizing them after noticing performance degradation after deployment. Static analysis has the potential to provide early feedback on performance problems to developers without having to run profilers with expensive (and often unavailable) performance tests. We develop a VSCode tool that integrates the static performance analysis results from Infer via code annotations and decorations (surfacing complexity analysis results in context) and side panel views showing details and overviews (enabling explainability of the results). Additionally, we design our system for interactivity to allow for more responsiveness to code changes as they happen. We evaluate the efficacy of our tool by measuring the overhead that the static performance analysis integration introduces in the development workflow. Further, we report on a case study that illustrates how our system can be used to reason about software performance in the context of a real performance bug in the ElasticSearch open-source project. Demo video: https://www.youtube.com/watch?v=-GqPb_YZMOs Repository: https://github.com/ipa-lab/vscode-infer-performance
Polynomial Graph Parsing with Non-Structural Reentrancies
Venue: arXiv cs.FL 2021
Year: 2021

Graph-based semantic representations are valuable in natural language processing, where it is often simple and effective to represent linguistic concepts as nodes, and relations as edges between them. Several attempts has been made to find a generative device that is sufficiently powerful to represent languages of semantic graphs, while at the same allowing efficient parsing. We add to this line of work by introducing graph extension grammar, which consists of an algebra over graphs together with a regular tree grammar that generates expressions over the operations of the algebra. Due to the design of the operations, these grammars can generate graphs with non-structural reentrancies; a type of node-sharing that is excessively common in formalisms such as abstract meaning representation, but for which existing devices offer little support. We provide a parsing algorithm for graph extension grammars, which is proved to be correct and run in polynomial time.
Bayesian Logistic Shape Model Inference: application to cochlea image segmentation
Venue: arXiv cs.CV 2021
Year: 2021

Incorporating shape information is essential for the delineation of many organs and anatomical structures in medical images. While previous work has mainly focused on parametric spatial transformations applied on reference template shapes, in this paper, we address the Bayesian inference of parametric shape models for segmenting medical images with the objective to provide interpretable results. The proposed framework defines a likelihood appearance probability and a prior label probability based on a generic shape function through a logistic function. A reference length parameter defined in the sigmoid controls the trade-off between shape and appearance information. The inference of shape parameters is performed within an Expectation-Maximisation approach where a Gauss-Newton optimization stage allows to provide an approximation of the posterior probability of shape parameters. This framework is applied to the segmentation of cochlea structures from clinical CT images constrained by a 10 parameter shape model. It is evaluated on three different datasets, one of which includes more than 200 patient images. The results show performances comparable to supervised methods and better than previously proposed unsupervised ones. It also enables an analysis of parameter distributions and the quantification of segmentation uncertainty including the effect of the shape model.
Leveraging Machine Learning for Industrial Wireless Communications
Venue: arXiv cs.NI 2021
Year: 2021

Two main trends characterize today's communication landscape and are finding their way into industrial facilities: the rollout of 5G with its distinct support for vertical industries and the increasing success of machine learning (ML). The combination of those two technologies open the doors to many exciting industrial applications and its impact is expected to rapidly increase in the coming years, given the abundant data growth and the availability of powerful edge computers in production facilities. Unlike most previous work that has considered the application of 5G and ML in industrial environment separately, this paper highlights the potential and synergies that result from combining them. The overall vision presented here generates from the KICK project, a collaboration of several partners from the manufacturing and communication industry as well as research institutes. This unprecedented blend of 5G and ML expertise creates a unique perspective on ML-supported industrial communications and their role in facilitating industrial automation. The paper identifies key open industrial challenges that are grouped into four use cases: wireless connectivity and edge-cloud integration, flexibility in network reconfiguration, dynamicity of heterogeneous network services, and mobility of robots and vehicles. Moreover, the paper provides insights into the advantages of ML-based industrial communications and discusses current challenges of data acquisition in real systems.
Assessing the embodied carbon footprint of IoT edge devices with a bottom-up life-cycle approach
Venue: arXiv cs.CY 2021
Year: 2021

In upcoming years, the number of Internet-of-Things (IoT) devices is expected to surge up to tens of billions of physical objects. However, while the IoT is often presented as a promising solution to tackle environmental challenges, the direct environmental impacts generated over the life cycle of the physical devices are usually overlooked. It is implicitly assumed that their environmental burden is negligible compared to the positive impacts they can generate. In this paper, we present a parametric framework based on hardware profiles to evaluate the cradle-to-gate carbon footprint of IoT edge devices. We exploit our framework in three ways. First, we apply it on four use cases to evaluate their respective production carbon footprint. Then, we show that the heterogeneity inherent to IoT edge devices must be considered as the production carbon footprint between simple and complex devices can vary by a factor of more than 150x. Finally, we estimate the absolute carbon footprint induced by the worldwide production of IoT edge devices through a macroscopic analysis over a 10-year period. Results range from 22 to 562 MtCO2-eq/year in 2027 depending on the deployment scenarios. However, the truncation error acknowledged for LCA bottom-up approaches usually lead to an undershoot of the environmental impacts. We compared the results of our use cases with the few reports available from Google and Apple, which suggest that our estimates could be revised upwards by a factor around 2x to compensate for the truncation error. Worst-case scenarios in 2027 would therefore reach more than 1000 MtCO2-eq/year. This truly stresses the necessity to consider environmental constraints when designing and deploying IoT edge devices.
Efficient Strategy Synthesis for MDPs with Resource Constraints
Venue: arXiv cs.AI 2021
Year: 2021

We consider qualitative strategy synthesis for the formalism called consumption Markov decision processes. This formalism can model dynamics of an agents that operates under resource constraints in a stochastic environment. The presented algorithms work in time polynomial with respect to the representation of the model and they synthesize strategies ensuring that a given set of goal states will be reached (once or infinitely many times) with probability 1 without resource exhaustion. In particular, when the amount of resource becomes too low to safely continue in the mission, the strategy changes course of the agent towards one of a designated set of reload states where the agent replenishes the resource to full capacity; with sufficient amount of resource, the agent attempts to fulfill the mission again. We also present two heuristics that attempt to reduce expected time that the agent needs to fulfill the given mission, a parameter important in practical planning. The presented algorithms were implemented and numerical examples demonstrate (i) the effectiveness (in terms of computation time) of the planning approach based on consumption Markov decision processes and (ii) the positive impact of the two heuristics on planning in a realistic example.
Intrinsic Propensity for Vulnerability in Computers? Arbitrary Code Execution in the Universal Turing Machine
Venue: arXiv cs.CR 2021
Year: 2021

The universal Turing machine is generally considered to be the simplest, most abstract model of a computer. This paper reports on the discovery of an accidental arbitrary code execution vulnerability in Marvin Minsky's 1967 implementation of the universal Turing machine. By submitting crafted data, the machine may be coerced into executing user-provided code. The article presents the discovered vulnerability in detail and discusses its potential implications. To the best of our knowledge, an arbitrary code execution vulnerability has not previously been reported for such a simple system.
Self-Supervised Learning from Automatically Separated Sound Scenes
Venue: arXiv cs.SD 2021
Year: 2021

Real-world sound scenes consist of time-varying collections of sound sources, each generating characteristic sound events that are mixed together in audio recordings. The association of these constituent sound events with their mixture and each other is semantically constrained: the sound scene contains the union of source classes and not all classes naturally co-occur. With this motivation, this paper explores the use of unsupervised automatic sound separation to decompose unlabeled sound scenes into multiple semantically-linked views for use in self-supervised contrastive learning. We find that learning to associate input mixtures with their automatically separated outputs yields stronger representations than past approaches that use the mixtures alone. Further, we discover that optimal source separation is not required for successful contrastive learning by demonstrating that a range of separation system convergence states all lead to useful and often complementary example transformations. Our best system incorporates these unsupervised separation models into a single augmentation front-end and jointly optimizes similarity maximization and coincidence prediction objectives across the views. The result is an unsupervised audio representation that rivals state-of-the-art alternatives on the established shallow AudioSet classification benchmark.
Pairwise Point Cloud Registration using Graph Matching and Rotation-invariant Features
Venue: arXiv cs.CV 2021
Year: 2021

Registration is a fundamental but critical task in point cloud processing, which usually depends on finding element correspondence from two point clouds. However, the finding of reliable correspondence relies on establishing a robust and discriminative description of elements and the correct matching of corresponding elements. In this letter, we develop a coarse-to-fine registration strategy, which utilizes rotation-invariant features and a new weighted graph matching method for iteratively finding correspondence. In the graph matching method, the similarity of nodes and edges in Euclidean and feature space are formulated to construct the optimization function. The proposed strategy is evaluated using two benchmark datasets and compared with several state-of-the-art methods. Regarding the experimental results, our proposed method can achieve a fine registration with rotation errors of less than 0.2 degrees and translation errors of less than 0.1m.
Recursion and Sequentiality in Categories of Sheaves
Venue: arXiv cs.PL 2021
Year: 2021

We present a fully abstract model of a call-by-value language with higher-order functions, recursion and natural numbers, as an exponential ideal in a topos. Our model is inspired by the fully abstract models of O'Hearn, Riecke and Sandholm, and Marz and Streicher. In contrast with semantics based on cpo's, we treat recursion as just one feature in a model built by combining a choice of modular components.